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ami-iit / jaxsim Public

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Improve compilation time of RBDAs for models with many DoFs#153

Merged

flferretti merged 6 commits intomainami-iit/jaxsim:mainfrom feature/vmap_joint_computationsami-iit/jaxsim:feature/vmap_joint_computationsCopy head branch name to clipboard

May 15, 2024

+72-115

Conversation Commits6 (6)Checks Files changed

Commits

Commits on May 15, 2024

Avoid the use of enum in Joint* classes
flferretti
committed
Simplify finding joint names from idx
flferretti
committed
Compute pre_H_suc and S using vmap
flferretti
committed
Handle joint computation for jointless models

flferretti
and
diegoferigo
committed
Address review

flferretti
and
diegoferigo
committed
Allow positional-only arg supported_joint_motion

flferretti
and
diegoferigo
committed

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